This project involves various tasks related to the dynamics and control of planar and spatial robots. The tasks include implementing gravity compensation, the Newton-Euler algorithm for inverse dynamics, and a PD controller with gravity compensation.
Implement gravity compensation for the different robots:
Implement the Newton-Euler algorithm for recursive inverse dynamics. Generate a cubic polynomial trajectory with initial configuration and final configuration. Consider gravity effects.
Implement the PD controller and Torque control with gravity compensation, Initial configuration , and final configuration .